GetEuler angle always gives values in range of -3 to 3. Am i missing something?
Closed this issue · 9 comments
i see that you have defined your axis with x pointing north and z up, my accelerometer has z down as shown below
You say to rotate the outputs in such case, how do i go about doing that? i mean i did not understand what rotate the outputs mean
GetEuler angle always gives values in range of -3 to 3. Am i missing something?
The output is in radians. Multiple each value by 180 / 3.14159 to get degrees.
You say to rotate the outputs in such case, how do i go about doing that?
In your case you need to rotate the axes by 180 degrees around X or Y. Rotating by 90/180 degrees is pretty simple math. This will probably work for you:
update(-g.x, g.y, -g.z, -a.x, a.y, -a.z, -m.x, m.y, -m.z). This will rotate the axis around the y-axis by 180 degrees, so Z will point up (opposite to before) and X will also point in the opposite direction.
Please let me know if this solves your problem.
I tried the above and thot may be magnetometer may also be reason so currently running with 6 axis without passing in magnetometer values but however i see the value decreasing when object is stable suppose say it starts with 300, next value is 298 ,then 290, then 270 then 264 etc..
Not sure what would be the problem
This is how i get values with device stable.. no movement at all( i am printing yaw able here using the getEulerangle method)
angle is 9.221062
angle is 12.700016
angle is 14.068754
angle is 14.036126
angle is 13.220181
angle is 12.837092
angle is 12.737936
angle is 12.333611
angle is 12.340543
angle is 12.092478
angle is 11.896714
angle is 11.957815
angle is 11.596505
angle is 11.866184
angle is 11.187619
angle is 10.918409
angle is 10.837001
angle is 10.722542
angle is 10.457922
angle is 10.304446
angle is 10.153737
angle is 10.000969
angle is 9.617128
angle is 9.294669
angle is 9.297976
angle is 8.946549
angle is 9.011792
angle is 8.617909
angle is 8.673428
angle is 8.167043
angle is 8.239808
angle is 7.797703
angle is 8.034293
angle is 7.384024
angle is 7.632738
angle is 7.109461
angle is 7.360253
angle is 6.692821
angle is 7.000992
angle is 6.334758
angle is 6.678481
angle is 5.862691
angle is 6.302578
angle is 5.582349
angle is 6.003461
angle is 5.317854
angle is 5.630772
angle is 4.793670
angle is 5.317567
angle is 4.337935
angle is 4.936696
angle is 3.880060
angle is 4.558188
angle is 3.482072
angle is 4.243866
angle is 3.000194
angle is 3.821285
angle is 2.660140
angle is 3.494411
angle is 2.268433
angle is 3.269067
angle is 1.978467
angle is 3.025944
angle is 1.704951
angle is 2.759019
angle is 1.321890
angle is 2.376791
angle is 0.957729
angle is 2.077674
angle is 0.616024
angle is 1.750077
angle is 0.250810
angle is 1.372407
angle is 359.883667
angle is 1.000225
angle is 359.334290
angle is 0.633025
angle is 358.937805
angle is 0.270181
angle is 358.595367
angle is 359.904694
angle is 358.172119
angle is 359.577911
angle is 357.871063
angle is 359.334412
angle is 357.639893
angle is 359.060791
angle is 357.307587
angle is 358.772766
angle is 357.024139
angle is 358.514343
angle is 356.692352
angle is 358.201630
angle is 356.349304
angle is 357.863525
angle is 355.992889
angle is 357.500275
angle is 355.547394
angle is 357.124664
angle is 355.127289
angle is 356.684479
angle is 354.643066
angle is 356.360260
angle is 354.332458
angle is 356.012207
angle is 353.978821
angle is 355.774811
angle is 353.789642
angle is 355.489075
angle is 353.462738
angle is 355.214203
angle is 353.258545
angle is 354.967163
angle is 353.009460
angle is 354.844879
angle is 352.875366
angle is 354.504395
angle is 352.552063
angle is 354.204681
angle is 352.156372
angle is 353.837524
angle is 351.734222
angle is 353.596375
angle is 351.554779
angle is 353.399658
angle is 351.272980
angle is 353.077576
angle is 350.926147
angle is 352.861542
angle is 350.654877
angle is 352.649078
angle is 350.491425
angle is 352.447113
angle is 350.262878
angle is 352.233154
angle is 349.984985
angle is 351.928284
angle is 349.646393
angle is 351.564178
angle is 349.336304
angle is 351.288116
angle is 349.017242
angle is 350.952362
angle is 348.685913
angle is 350.698639
angle is 348.405884
angle is 350.453430
angle is 348.094513
angle is 350.106384
angle is 347.837585
angle is 349.794983
angle is 347.430511
angle is 349.424835
angle is 347.131287
angle is 349.204163
angle is 346.865082
angle is 348.884491
angle is 346.528076
angle is 348.568420
angle is 346.217621
angle is 348.246887
angle is 345.857941
angle is 348.000885
angle is 345.510223
angle is 347.591431
angle is 345.078491
angle is 347.221008
angle is 344.876251
angle is 346.973419
angle is 344.414825
angle is 346.530823
angle is 344.029755
angle is 346.231110
angle is 343.781494
angle is 346.022705
angle is 343.506104
angle is 345.627289
angle is 343.069916
angle is 345.196472
angle is 342.649750
angle is 344.912170
angle is 342.243713
angle is 344.570740
angle is 342.017426
angle is 344.252960
angle is 341.513977
angle is 343.874817
angle is 341.129639
angle is 343.462799
angle is 340.666931
angle is 343.090302
angle is 340.345093
angle is 342.787537
angle is 340.005310
angle is 342.417206
angle is 339.691559
angle is 342.068634
angle is 339.281189
angle is 341.657776
angle is 338.926056
angle is 341.370636
angle is 338.589813
angle is 341.069427
angle is 338.375122
angle is 340.878174
angle is 338.181244
angle is 340.596893
angle is 337.702881
angle is 340.186554
angle is 337.352905
angle is 339.772491
angle is 336.950226
angle is 339.315094
angle is 336.504883
angle is 338.910370
angle is 336.148773
angle is 338.526184
angle is 335.714508
angle is 338.122864
angle is 335.295624
angle is 337.605896
angle is 334.955933
angle is 337.261658
angle is 334.537354
angle is 336.728607
angle is 334.159851
angle is 336.351379
angle is 333.804718
angle is 335.983032
angle is 333.448486
angle is 335.686768
angle is 333.174622
angle is 335.412384
angle is 332.884491
angle is 335.051697
angle is 332.541992
angle is 334.640747
angle is 332.243896
angle is 334.351196
angle is 331.772400
angle is 333.808502
angle is 331.308258
angle is 333.325562
angle is 330.967773
angle is 333.090668
angle is 330.629608
angle is 332.768158
angle is 330.300110
angle is 332.462524
angle is 329.894684
angle is 331.969788
angle is 329.494568
angle is 331.653931
angle is 329.110229
angle is 331.180267
angle is 328.754333
angle is 330.929352
angle is 328.459045
angle is 330.478149
angle is 327.995544
angle is 330.035553
angle is 327.622650
angle is 329.615967
angle is 327.194916
angle is 329.178558
angle is 326.730713
angle is 328.686157
angle is 326.312408
angle is 328.314789
angle is 326.077148
angle is 327.983521
angle is 325.654297
angle is 327.664032
angle is 325.289490
angle is 327.281555
angle is 324.845612
angle is 326.765076
angle is 324.439545
angle is 326.414734
angle is 324.095184
angle is 325.976929
angle is 323.631104
angle is 325.463654
angle is 323.217468
angle is 325.033173
angle is 322.935547
angle is 324.863068
angle is 322.673706
angle is 324.508606
angle is 322.407379
angle is 324.141785
angle is 322.086060
angle is 323.841156
angle is 321.837158
angle is 323.491730
angle is 321.379486
angle is 323.070648
angle is 320.996582
angle is 322.727142
angle is 320.703369
angle is 322.372528
angle is 320.369812
angle is 321.967590
angle is 320.048889
angle is 321.754822
angle is 319.683594
angle is 321.428528
angle is 319.320435
angle is 321.232483
angle is 319.138916
angle is 320.934509
angle is 318.874207
angle is 320.662628
angle is 318.543793
angle is 320.267639
angle is 318.265564
angle is 320.080536
angle is 318.012543
angle is 319.695557
angle is 317.654419
angle is 319.351013
angle is 317.257599
angle is 318.936310
angle is 316.933105
angle is 318.664246
angle is 316.603424
angle is 318.350342
angle is 316.306030
angle is 318.086823
angle is 315.938721
angle is 317.643799
angle is 315.496887
angle is 317.244263
angle is 315.165253
angle is 316.914703
angle is 314.766937
angle is 316.465698
angle is 314.342957
angle is 316.114288
angle is 313.931335
angle is 315.708130
angle is 313.598724
angle is 315.279907
angle is 313.155121
angle is 314.817322
angle is 312.850494
angle is 314.562256
angle is 312.644531
angle is 314.327606
angle is 312.290253
angle is 314.039062
angle is 312.050262
angle is 313.751831
angle is 311.836884
angle is 313.473328
angle is 311.581207
angle is 313.264862
angle is 311.317139
angle is 312.850037
angle is 311.026489
angle is 312.518463
angle is 310.687439
angle is 312.282349
angle is 310.372681
angle is 311.859161
angle is 309.865204
angle is 311.390900
angle is 309.398682
angle is 310.941132
angle is 309.025574
angle is 310.579041
angle is 308.591339
angle is 310.192017
angle is 308.179352
angle is 309.666321
angle is 307.645233
angle is 309.278625
angle is 307.257080
angle is 308.921082
angle is 306.950073
angle is 308.514343
angle is 306.495056
angle is 308.103149
angle is 306.139435
angle is 307.894165
angle is 305.901917
angle is 307.596008
angle is 305.606171
angle is 307.353333
angle is 305.396240
angle is 307.067139
angle is 304.976074
angle is 306.648529
angle is 304.615326
angle is 306.282898
angle is 304.184387
angle is 305.935059
angle is 303.863922
angle is 305.718781
angle is 303.595459
angle is 305.345856
angle is 303.162201
angle is 304.984985
angle is 302.876190
angle is 304.680450
angle is 302.618744
angle is 304.520752
angle is 302.432220
angle is 304.238068
angle is 302.137024
angle is 303.923920
angle is 301.696777
angle is 303.583466
angle is 301.335480
angle is 303.157532
angle is 300.885620
angle is 302.728760
angle is 300.678284
angle is 302.473267
angle is 300.293091
angle is 302.132904
angle is 300.091248
angle is 301.737854
angle is 299.635529
angle is 301.318115
angle is 299.335999
angle is 301.112244
angle is 298.955658
angle is 300.694092
angle is 298.479675
angle is 300.219849
angle is 297.960510
angle is 299.712860
angle is 297.470520
angle is 299.282104
angle is 297.197083
angle is 298.997742
angle is 296.866425
angle is 298.663818
angle is 296.568146
angle is 298.397308
angle is 296.148560
angle is 298.016693
angle is 295.770447
angle is 297.613556
angle is 295.402100
angle is 297.164520
angle is 294.902771
angle is 296.728516
angle is 294.577240
angle is 296.521545
angle is 294.255432
angle is 296.125793
angle is 293.910950
angle is 295.801819
angle is 293.537689
angle is 295.375702
angle is 293.209717
angle is 295.109741
angle is 292.913788
angle is 294.716064
angle is 292.577942
angle is 294.367737
angle is 292.218506
angle is 294.038940
angle is 291.967590
angle is 293.825500
angle is 291.678833
angle is 293.572388
angle is 291.334778
angle is 293.223755
angle is 290.984894
angle is 292.814819
angle is 290.585693
angle is 292.480316
angle is 290.282379
angle is 292.243439
angle is 290.048309
angle is 291.887451
angle is 289.698029
angle is 291.493652
angle is 289.227478
angle is 291.080292
angle is 288.871155
angle is 290.653137
angle is 288.483582
angle is 290.325958
angle is 288.065613
angle is 289.861908
angle is 287.697906
angle is 289.627899
angle is 287.500366
angle is 289.386230
angle is 287.102356
angle is 289.063660
angle is 286.868042
angle is 288.688507
angle is 286.483337
angle is 288.421967
angle is 286.143188
angle is 288.083496
angle is 285.920380
angle is 287.768158
angle is 285.438110
angle is 287.304504
angle is 284.973267
angle is 286.902466
angle is 284.677429
angle is 286.626526
angle is 284.295654
angle is 286.164001
angle is 283.883270
angle is 285.763947
angle is 283.593048
angle is 285.456726
angle is 283.352173
angle is 285.182495
angle is 282.933411
angle is 284.839996
angle is 282.542542
angle is 284.553131
angle is 282.245209
angle is 284.184235
angle is 281.814514
angle is 283.734863
angle is 281.483887
angle is 283.440735
angle is 281.125366
angle is 283.157043
angle is 280.888916
angle is 282.899048
angle is 280.580658
angle is 282.477570
angle is 280.184021
angle is 282.080231
angle is 279.749054
angle is 281.654816
angle is 279.454285
angle is 281.293915
angle is 279.065308
angle is 280.915070
angle is 278.666626
angle is 280.532898
angle is 278.341858
angle is 280.177887
angle is 277.987793
angle is 279.818481
angle is 277.649353
angle is 279.421387
angle is 277.305115
angle is 279.083618
angle is 276.871490
angle is 278.611572
angle is 276.374023
angle is 278.074188
angle is 275.920868
angle is 277.796082
angle is 275.565338
angle is 277.400879
angle is 275.236267
angle is 276.968994
angle is 274.747070
angle is 276.573273
angle is 274.383392
angle is 276.177979
angle is 274.035309
angle is 275.853455
angle is 273.701355
angle is 275.493744
angle is 273.391663
angle is 275.118713
angle is 273.040894
angle is 274.798187
angle is 272.824799
angle is 274.542542
angle is 272.573669
angle is 274.229065
angle is 272.253052
angle is 273.970886
angle is 271.947906
angle is 273.529022
angle is 271.577911
angle is 273.292297
angle is 271.265747
angle is 272.924957
angle is 271.029572
angle is 272.605957
angle is 270.568420
Yes, without a magnetometer the values will drift slowly. The reason is that the gyroscope is noisy, reducing this noise by calibration will improve things, but won't remove your problem. The magnetometer provides a fixed reference to a real world orientation and the AHRS algorithm can use this to overcome drift you are experiencing.
True that.
But will it drift so much? Within 1 minute I see values going from 0 to 360 twice..
I have calibrated the gyro and the accelerometer.
And yes, haven't tried with other units. Just tried on a single unit.
Let me try on others and get back to you.
I actually thot its something wrong that i might have done in the code. I am using LSM9DS1 currently.
If you attach the raw output for 2 minutes, from the sensors I can have a look. You need to include the time each set of values was captured.
Am closing due to no reply.